CN110347294A - A kind of capacitance touch detection circuit and method - Google Patents
A kind of capacitance touch detection circuit and method Download PDFInfo
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- CN110347294A CN110347294A CN201910655749.2A CN201910655749A CN110347294A CN 110347294 A CN110347294 A CN 110347294A CN 201910655749 A CN201910655749 A CN 201910655749A CN 110347294 A CN110347294 A CN 110347294A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/0416—Control or interface arrangements specially adapted for digitisers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/041—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
- G06F3/044—Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
- H03K17/96—Touch switches
- H03K17/962—Capacitive touch switches
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- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Electronic Switches (AREA)
- Inductance-Capacitance Distribution Constants And Capacitance-Resistance Oscillators (AREA)
Abstract
The invention discloses a kind of capacitance touch detection circuit and methods.The capacitance touch detection circuit is by introducing oscillating loop for external touch capacitor, to change the external frequency of oscillation that external oscillating circuit generates, by the external frequency of oscillation compared with the internal reference frequency that internal oscillator circuit generates, it obtains touching the knots modification of capacitor, and then judges whether to occur effectively to touch.Oscillating circuit of the invention external with internal oscillator circuit be all made of structure as relaxation oscillator structure oscillator i.e. dual threshold RC oscillator as external oscillator and internal oscillator, the frequency error for reducing external oscillator and internal oscillator improves the accuracy of capacitance touch detection.And the present invention uses the biggish linear voltage regulator LDO of bandwidth to provide power supply for the internal oscillator and external oscillator, frequency departure is very small, improves internal oscillator and external oscillator when frequency of oscillation is close, can lead to the problem of hole point.
Description
Technical field
The present invention relates to touch detection fields, more specifically, being related to a kind of capacitance touch detection circuit and method.
Background technique
Capacitance touch sensing technology about just had already appeared before more than 50 years, and Touching controlling lamp, that is, touch key-press is capacitive touch
A classical example of sensing technology is touched, the proposition of new technology allows to realize touch key-press increasingly complex control, example
As single-chip microcontroller provides the ability of completion capacitance touch sensing, decision, response and other systems inter-related task.It is existing at present
A variety of capacitance touch sensing technologies exist, wherein most capacitance touch sensing technologies are to be produced based on measurement since finger touches
The frequency or duty ratio giving birth to extra capacitor and changing, touch key-press have been widely adopted in more and more electronic products.
Current capacitance touch detection scheme mainly has: CSR-Cap Sense Relaxation Oscillator (
Speed to shake capacitive sensing), CSA-Cap Sense Successive Approximation (Approach by inchmeal capacitive sensing),
CSD-Cap Sense Sigma Delta (integral differential capacitive sensing), CDC- Capacitance Digital
Conversion (conversion of capacitor number).Wherein, the advantage that tension and relaxation concussion capacitive sensing CSR scheme has its exclusive: small power consumption,
Area is small, at low cost, is not that very high occasion has very big attraction for precision and anti-interference requirement.But the prior art
Tension and relaxation concussion capacitive sensing CSR in co-channel interference, will cause hole point, so-called hole point i.e. when certain touching intensity,
It touches reactionless；When the tension and relaxation concussion capacitive sensing CSR conceptual internal frequency of oscillation of the prior art is often by system simultaneously
The frequency dividing of clock or system clock generates, larger with the oscillating frequency difference of touch sensible oscillator, will cause and touches count value change
Change it is larger so that capacitance touch detection accuracy substantially reduce.
Summary of the invention
In view of this, the present invention proposes a kind of capacitance touch detection circuit and method, the standard of capacitance touch detection is improved
True property solves and causes to examine since the oscillating frequency difference of internal oscillation frequency and induced oscillation device is larger in the prior art
Survey the technical problem of result inaccuracy.
The present invention provides a kind of capacitance touch detection circuits, comprising: external oscillating circuit, internal oscillator circuit, counting
And comparison module and data processing module, the external oscillating circuit includes external touch capacitor, the external oscillating circuit root
External frequency of oscillation is obtained according to the external touch signal on external touch capacitor, the internal oscillator circuit generates internal reference
The external frequency of oscillation and the internal reference frequency are compared by frequency, the counting and comparison module, are obtained described
The knots modification of external touch signal, data processing module judge whether have according to the knots modification of the external touch signal
Effect touches.
Optionally, the external oscillating circuit further includes external oscillator, and the external oscillator compares including first
Device, the second comparator, the first NAND gate, the second NAND gate, the first phase inverter, the second phase inverter and internal resistance, described first
The input terminal of comparator and the second comparator connects one end of the external touch capacitor, the external touch capacitor it is another
End ground connection, the output end of the first comparator connect an input terminal of the first NAND gate, the output of second comparator
End connects an input terminal of the second NAND gate through the first phase inverter, another input terminal of first NAND gate connects institute
The output end of the second NAND gate is stated, the output end of first NAND gate connects another input terminal of second NAND gate,
The common end of one end connection the external touch capacitor and the second comparator of the internal resistance, the other end of the internal resistance
Connect the output end of first NAND gate through the second phase inverter, second phase inverter and first NAND gate it is public
The input terminal of the end connection counting and comparison module.
Optionally, the internal oscillator circuit includes internal oscillator and internal oscillator capacitor, the internal oscillator
Including third comparator, the 4th comparator, third NAND gate, the 4th NAND gate, third phase inverter, the 4th phase inverter and inside
The input terminal of resistance, the third comparator and the 4th comparator connects one end of the internal oscillator capacitor, the internal vibration
The other end for swinging capacitor is grounded, an input terminal of the output end connection third NAND gate of the third comparator, and the described 4th
The output end of comparator through third phase inverter connect the 4th NAND gate an input terminal, the third NAND gate another
Input terminal connects the output end of the 4th NAND gate, and the output end of the third NAND gate connects the 4th NAND gate
Another input terminal, the common end of one end connection the internal oscillator capacitor and the 4th comparator of the internal resistance, the inside
The other end of resistance connects the output end of the third NAND gate, the 4th phase inverter and the third through the 4th phase inverter
The common end of NAND gate connects the input terminal of the counting and comparison module.
Optionally, when enable signal is effective, the internal oscillator circuit and the external oscillating circuit start simultaneously at vibration
It swings, internal oscillator circuit carries out oscillation at the first time, counts to the cycle of oscillation number of first time inside and outside oscillating circuit
Number, when count difference value reaches first threshold, then it is assumed that occur effectively to touch.
Optionally, the capacitive touch circuit further includes linear voltage regulator, and the linear voltage regulator is the internal oscillator
Device and the external oscillator provide power supply, and the band of the linear voltage regulator is wider than the 6-15 times of internal oscillator and institute
State the frequency of oscillation of external oscillator.
Optionally, the first comparator, the second comparator, third comparator and the 4th comparator are built-in
Threshold comparator.
Optionally, the external touch capacitor is the summation of touchpad and PCB trace parasitic capacitance.
Optionally, the internal oscillator capacitor can be adjusted according to external environment.
The present invention also provides a kind of capacitance touch detection methods, based on above-mentioned capacitance touch detection circuit, including with
Lower step:
External frequency of oscillation is obtained according to the external touch signal on external touch capacitor；
Generate internal reference frequency；
The external frequency of oscillation and the internal reference frequency are compared, the external touch signal is obtained
Knots modification；
According to the knots modification of the external touch signal, judge whether to occur effectively to touch.
Compared with prior art, the technical solution of the present invention has the advantage that capacitance touch detection circuit of the invention
By the way that external touch capacitor is introduced oscillating loop, thus change the external frequency of oscillation that external oscillating circuit generates, it will be described
External frequency of oscillation obtains the knots modification for touching capacitor compared with the internal reference frequency that internal oscillator circuit generates, and then sentences
It is disconnected whether to occur effectively to touch.Oscillating circuit of the invention external with internal oscillator circuit be all made of structure as relaxation oscillations
The oscillator of device structure, that is, dual threshold RC oscillator as external oscillator and internal oscillator, reduce external oscillator and
The frequency error of internal oscillator improves the accuracy of capacitance touch detection.And the present invention is biggish linear steady using bandwidth
Depressor LDO provides power supply for the internal oscillator and external oscillator, improves and exists in internal oscillator and external oscillator
When frequency of oscillation is close, hole point can be led to the problem of.
Detailed description of the invention
Fig. 1 is the functional block diagram of capacitive touch circuit of the present invention；
Fig. 2 is the embodiment circuit diagram of capacitive touch circuit of the present invention；
The working waveform figure of Fig. 3 capacitance touch detection circuit of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention is not restricted to this
A little embodiments.The present invention covers any substitution made in the spirit and scope of the present invention, modification, equivalent method and scheme.
In order to make the public have thorough understanding to the present invention, tool is described in detail in the following preferred embodiment of the present invention
The details of body, and the present invention can also be understood completely in description without these details for a person skilled in the art.
The present invention is more specifically described by way of example referring to attached drawing in the following passage.It should be noted that attached drawing is adopted
With more simplified form and using non-accurate ratio, only to facilitate, lucidly aid in illustrating the embodiment of the present invention
Purpose.
Fig. 3 illustrates capacitance touch detection circuit functional block diagram of the present invention.The capacitance touch detection circuit includes outer
Portion's oscillating circuit 1, internal oscillator circuit 2, counting and comparison module 3 and data processing module 4, the external oscillating circuit 1 wrap
Include external touch capacitor CX, the external oscillating circuit 1 is according to external touch capacitor CXOn external touch signal obtain outside
Frequency of oscillation, the internal oscillator circuit 2 generate internal reference frequency, the counting and comparison module 3 for the external oscillation
Frequency and the internal reference frequency are compared, and obtain the knots modification of the external touch signal, data processing module according to
The knots modification of the 4 external touch signals, judges whether to occur effectively to touch.The external oscillating circuit 1 further includes outside
Oscillator 11, the internal oscillator circuit 2 include internal oscillator 21 and internal oscillator capacitor Cinternal.External touch electricity
Hold CXThe usually summation of touchpad and PCB trace parasitic capacitance.
Fig. 2 gives the embodiment circuit diagram an of capacitive touch circuit of the present invention；Wherein show in particular this hair
The physical circuit of bright external oscillator and internal oscillator.The external oscillator 11 compares including first comparator, second
Device, the first NAND gate, the second NAND gate, the first phase inverter, the second phase inverter and internal resistance Rinternal, described first compares
The input terminal of device and the second comparator connects the external touch capacitor CXOne end, the external touch capacitor CXThe other end
Ground connection, the output end of the first comparator connect an input terminal of the first NAND gate, the output end of second comparator
Through the first phase inverter connect the second NAND gate an input terminal, first NAND gate another input terminal connection described in
The output end of second NAND gate, the output end of first NAND gate connect another input terminal of second NAND gate, institute
State internal resistance Rinternal1One end connect external touch capacitor CXWith the common end of the second comparator, the internal resistance
Rinternal1The other end output end of first NAND gate, second phase inverter and described are connected through the second phase inverter
The common end of one NAND gate connects the input terminal of the counting and comparison module 3.
The internal oscillator 21 includes third comparator, the 4th comparator, third NAND gate, the 4th NAND gate, third
Phase inverter, the 4th phase inverter and internal resistance Rinternal, described in the input terminal connection of the third comparator and the 4th comparator
Internal oscillator capacitor CinternalOne end, the internal oscillator capacitor CinternalThe other end ground connection, the third comparator
Output end connects an input terminal of third NAND gate, and the output end of the 4th comparator is through third phase inverter connection the 4th
One input terminal of NAND gate, another input terminal of the third NAND gate connect the output end of the 4th NAND gate, institute
The output end for stating third NAND gate connects another input terminal of the 4th NAND gate, the internal resistance Rinternal2One
End connection internal oscillator capacitor CinternalWith the common end of the 4th comparator, the internal resistance Rinternal2The other end warp
4th phase inverter connects the output end of the third NAND gate, the common end of the 4th phase inverter and the third NAND gate
Connect the input terminal of the counting and comparison module 3.The wherein internal resistance Rinternal1With internal resistance Rinternal2It can be with
It is identical, it can also be different, the invention does not limit this.
The external frequency of oscillation and the internal reference frequency are compared by the counting and comparison module 3, are obtained
The knots modification of the external touch signal, data processing module judge whether according to the knots modification of the 4 external touch signals
Occur effectively to touch.
Fig. 3 gives the working waveform figure of capacitance touch detection circuit of the present invention, as shown in figure 3, when enable signal EN has
When effect, internal oscillator counter starts counting a period of time, while external oscillator also starts to vibrate, and then reads at this
The cycle of oscillation number of a period of time inside and outside oscillator, as count value N.
Count value are as follows:Wherein n is count value digit.
Penetration power are as follows:Wherein Δ CXFor external touch
The knots modification of capacitor.From formula as can be seen that improve touch penetration power most efficient method be increase count value or
Reduce external capacitive CX。
It is normally set up a first threshold, when count difference value is greater than set first threshold, that is, is considered valid touching
It touches, to achieve the purpose that detect capacitor.
In addition, internal capacitance CinternalIt can be controlled to adjust according to external environment using program, make do not touching
In the case of, original count value is slightly less than (2n- 1), external capacitive Cx and internal capacitance C at this timeinternalClosely, it is reached with this
To maximum penetration power.
In Fig. 3 when enable signal is effective, the internal oscillator circuit and the external oscillating circuit start simultaneously at vibration
It swings, internal oscillator circuit carries out oscillation at the first time, counts to the cycle of oscillation number of first time inside and outside oscillating circuit
Number, when count difference value reaches first threshold, then it is assumed that occur effectively to touch.
It should be noted that the effective of enable signal EN in Fig. 3 is high level, or low level, the present invention couple
This is not limited.
The capacitive touch circuit further includes linear voltage regulator LDO, and the linear voltage regulator LDO is the internal oscillator
Device and the external oscillator provide power supply, the band of the linear voltage regulator LDO be wider than the 6-15 times of internal oscillator and
The frequency of oscillation of the external oscillator.Preferably, the band of the linear voltage regulator LDO is wider than 10 times of internal oscillators
The frequency of oscillation of device and the external oscillator.Power supply is powered using LDO, and frequency departure is very small, to solve at two
The frequency of oscillator will generate co-channel interference when very close, and then lead to the problem of hole point, the hole point touch with it is non-
Count value N is almost unchanged under touching or count difference value is less than the first threshold set.
Capacitance touch detection circuit of the invention is by introducing oscillating loop for external touch capacitor, to change outside
The external frequency of oscillation that oscillating circuit generates, the internal reference frequency that the external frequency of oscillation and internal oscillator circuit are generated
Rate compares, and obtains the knots modification for touching capacitor, and then judge whether to occur effectively to touch.
Internal oscillator is tension and relaxation vibration as the structure of external oscillator in capacitance touch detection circuit of the present invention
Device structure is swung, specifically, internal oscillator and external oscillator are dual threshold RC oscillator, reduces two oscillators
Frequency error, improves the accuracy of counting, to improve the accuracy of capacitance touch detection.And two oscillations of the invention
For the frequency of device with the synchronous variation of influence of the other factors such as temperature, voltage, count value is almost unchanged with voltage and temperature change,
Improve the accuracy for touching and counting.
In addition, first comparator of the present invention, the second comparator, third comparator and the 4th comparator are
Built-in threshold comparator, without quiescent current, power consumption and area are very small.Specifically, two comparators of external oscillator are adopted
With the comparator of fixed threshold, a threshold value is high-level threshold, another is low level threshold value, and composition dual threshold compares
Area and power consumption is greatly saved in device.
Although embodiment is separately illustrated and is illustrated above, it is related to the common technology in part, in ordinary skill
Personnel apparently, can be replaced and integrate between the embodiments, be related to one of embodiment and the content recorded is not known,
It then can refer to another embodiment on the books.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical solution within the spirit and principle of mode
Within enclosing.
Claims (9)
1. a kind of capacitance touch detection circuit characterized by comprising external oscillating circuit, internal oscillator circuit, counting and ratio
Compared with module and data processing module, the external oscillating circuit includes external touch capacitor, and the external oscillating circuit is according to outer
The external touch signal that portion touches on capacitor obtains external frequency of oscillation, and the internal oscillator circuit generates internal reference frequency,
The external frequency of oscillation and the internal reference frequency are compared by the counting and comparison module, obtain the external touching
The knots modification of signal is touched, data processing module judges whether to occur effectively to touch according to the knots modification of the external touch signal.
2. capacitance touch detection circuit according to claim 1, it is characterised in that: the external oscillating circuit further includes outer
Portion's oscillator, the external oscillator includes first comparator, the second comparator, the first NAND gate, the second NAND gate, first anti-
Phase device, the second phase inverter and internal resistance, the first comparator connect the external touch with the input terminal of the second comparator
One end of capacitor, the other end ground connection of the external touch capacitor, the output end of the first comparator connect the first NAND gate
An input terminal, the output end of second comparator connects an input terminal of the second NAND gate, institute through the first phase inverter
Another input terminal for stating the first NAND gate connects the output end of second NAND gate, and the output end of first NAND gate connects
Connect another input terminal of second NAND gate, one end connection external touch capacitor of the internal resistance and the second comparator
Common end, the other end of the internal resistance connects the output end of first NAND gate through the second phase inverter, described second
Phase inverter connects the input terminal of the counting and comparison module with the common end of first NAND gate.
3. capacitance touch detection circuit according to claim 1, it is characterised in that: the internal oscillator circuit includes interior
Portion's oscillator and internal oscillator capacitor, the internal oscillator include third comparator, the 4th comparator, third NAND gate,
The input terminal of four NAND gates, third phase inverter, the 4th phase inverter and internal resistance, the third comparator and the 4th comparator connects
Connect one end of the internal oscillator capacitor, the other end ground connection of the internal oscillator capacitor, the output end of the third comparator
An input terminal of third NAND gate is connected, the output end of the 4th comparator connects the 4th NAND gate through third phase inverter
One input terminal, another input terminal of the third NAND gate connect the output end of the 4th NAND gate, the third with
The output end of NOT gate connects another input terminal of the 4th NAND gate, one end connection internal oscillator electricity of the internal resistance
Hold and the common end of the 4th comparator, the other end of the internal resistance connect the defeated of the third NAND gate through the 4th phase inverter
Outlet, the 4th phase inverter connect the input terminal of the counting and comparison module with the common end of the third NAND gate.
4. capacitance touch detection circuit according to claim 1 to 3, it is characterised in that: when enable signal is effective
When, the internal oscillator circuit and the external oscillating circuit start simultaneously at oscillation, when internal oscillator circuit carries out oscillation first
Between, the cycle of oscillation number of first time inside and outside oscillating circuit is counted, when count difference value reaches first threshold, then
Think to occur effectively to touch.
5. capacitance touch detection circuit according to claim 4, it is characterised in that: the capacitive touch circuit further includes line
Property voltage-stablizer, the linear voltage regulator provide power supply, the linear voltage stabilization for the internal oscillator and the external oscillator
The band of device is wider than the frequency of oscillation of 6-15 times of internal oscillator and the external oscillator.
6. capacitance touch detection circuit according to claim 1, it is characterised in that: the first comparator, second are compared
Device, third comparator and the 4th comparator are built-in threshold comparator.
7. capacitance touch detection circuit according to claim 1, it is characterised in that: the external touch capacitor be touchpad and
The summation of PCB trace parasitic capacitance.
8. capacitance touch detection circuit according to claim 1, it is characterised in that: the internal oscillator capacitor can be according to outer
Portion's environment is adjusted.
9. a kind of capacitance touch detection method, special based on capacitance touch detection circuit described in claim 1-8 any one
Sign is, comprising the following steps:
External frequency of oscillation is obtained according to the external touch signal on external touch capacitor；
Generate internal reference frequency；
The external frequency of oscillation and the internal reference frequency are compared, the change of the external touch signal is obtained
Amount；
According to the knots modification of the external touch signal, judge whether to occur effectively to touch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910655749.2A CN110347294B (en) | 2019-07-19 | 2019-07-19 | Capacitive touch detection circuit and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910655749.2A CN110347294B (en) | 2019-07-19 | 2019-07-19 | Capacitive touch detection circuit and method |
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| CN110347294B CN110347294B (en) | 2023-05-16 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113721782A (en) * | 2020-05-26 | 2021-11-30 | 三星电机株式会社 | Touch sensing device and electronic device |
| TWI755156B (en) * | 2020-11-17 | 2022-02-11 | 應廣科技股份有限公司 | Touch detector immune to noises characteristics and method thereof |
| CN114323361A (en) * | 2021-12-30 | 2022-04-12 | 成都动芯微电子有限公司 | Sensor capacitance detection circuit and method thereof |
| CN114900175A (en) * | 2022-07-11 | 2022-08-12 | 上海泰矽微电子有限公司 | Low-power-consumption capacitive touch sensing detection circuit |
| CN115580283A (en) * | 2022-11-09 | 2023-01-06 | 深圳市美矽微半导体有限公司 | Control chip with touch induction structure |
| CN116584714A (en) * | 2023-07-18 | 2023-08-15 | 杭州拓尔微电子有限公司 | Start control device, electronic atomizer and module thereof |
| TWI828392B (en) * | 2022-10-27 | 2024-01-01 | 新唐科技股份有限公司 | Touch sensing circuit and touch judging method |
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| CN113721782A (en) * | 2020-05-26 | 2021-11-30 | 三星电机株式会社 | Touch sensing device and electronic device |
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| TWI755156B (en) * | 2020-11-17 | 2022-02-11 | 應廣科技股份有限公司 | Touch detector immune to noises characteristics and method thereof |
| CN114323361A (en) * | 2021-12-30 | 2022-04-12 | 成都动芯微电子有限公司 | Sensor capacitance detection circuit and method thereof |
| CN114323361B (en) * | 2021-12-30 | 2024-06-04 | 成都动芯微电子有限公司 | Sensor capacitance detection circuit and method thereof |
| CN114900175A (en) * | 2022-07-11 | 2022-08-12 | 上海泰矽微电子有限公司 | Low-power-consumption capacitive touch sensing detection circuit |
| TWI828392B (en) * | 2022-10-27 | 2024-01-01 | 新唐科技股份有限公司 | Touch sensing circuit and touch judging method |
| CN115580283A (en) * | 2022-11-09 | 2023-01-06 | 深圳市美矽微半导体有限公司 | Control chip with touch induction structure |
| CN116584714A (en) * | 2023-07-18 | 2023-08-15 | 杭州拓尔微电子有限公司 | Start control device, electronic atomizer and module thereof |
| CN116584714B (en) * | 2023-07-18 | 2023-10-20 | 杭州拓尔微电子有限公司 | Start control device, electronic atomizer and module thereof |
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| Publication number | Publication date |
|---|---|
| CN110347294B (en) | 2023-05-16 |
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